CN113465653B - Parachute opening state monitoring method and system based on resistance parachute feature recognition - Google Patents

Parachute opening state monitoring method and system based on resistance parachute feature recognition Download PDF

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CN113465653B
CN113465653B CN202110713194.XA CN202110713194A CN113465653B CN 113465653 B CN113465653 B CN 113465653B CN 202110713194 A CN202110713194 A CN 202110713194A CN 113465653 B CN113465653 B CN 113465653B
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parachute
umbrella
opening
drag
airplane
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CN113465653A (en
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杨地
陈海燕
覃建兰
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Chengdu Aircraft Industrial Group Co Ltd
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Abstract

The invention discloses an parachute opening state monitoring method and system based on parachute characteristic identification. The method judges the parachute opening condition of the drag parachute by measuring the change gradient condition of the total number of the feature points on the drag parachute, sets a corresponding threshold value, and automatically triggers the voice radio to carry out voice prompt when the change gradient of the total number of the feature points is lower than a certain threshold value, so that the rapid judgment and emergency treatment of the pilot on the parachute opening state of the airplane are realized. The invention can quickly judge whether the parachute is successfully opened based on the pickup of the characteristic points of the parachute opening of the airplane, shortens the warning time, improves the pilot response time and the flight test safety margin, and has better practicability.

Description

Parachute opening state monitoring method and system based on resistance parachute feature recognition
Technical Field
The invention belongs to the technical field of parachute opening monitoring of a drag parachute, and particularly relates to a parachute opening state monitoring method and system based on drag parachute feature recognition.
Background
When the length of the runway is limited, the speed of the airplane is effectively reduced after landing, and part of the airplane adopts a drag parachute form to increase drag and reduce sliding distance. A typical umbrella release process is as follows: after the airplane lands and slides for a certain distance, after a pilot sends a control command, the airplane parachute throwing mechanism firstly throws out the guide parachute, the guide parachute is completely opened and then generates enough pulling force to pull out the main parachute due to wind resistance, the main parachute is expanded to the maximum under the action of resistance, and finally enough resistance is generated to enable the speed of the airplane to be reduced to be below a threshold value within a specified time. The drag parachute is vital to the deceleration operation of the pilot, and when the parachute throwing of the airplane fails, the pilot can obtain the warning information earlier, so that the emergency response can be made more timely, and the risk that the airplane rushes out of the runway is reduced.
The existing parachute-throwing solution mainly comprises two methods of pilot self-monitoring and commander auxiliary monitoring. The pilot self-monitoring method comprises the following steps: when the airplane umbrella releasing mechanism works normally, an electric signal of 'successful umbrella opening' of the flight parameter system is fed back, a pilot can confirm whether the airplane umbrella releasing mechanism successfully executes an umbrella releasing command in the cabin display system, and the next operation is carried out according to the situation. The commander auxiliary monitoring method comprises the following steps: based on direct observation of the parachute opening situation by the tower commander. When finding that the umbrella is failed to be put, the control tower commander informs the pilot through a voice radio station and operates according to the conditions by the pilot.
However, in the self-monitoring method for the pilot, the pilot can only know whether the parachute-releasing mechanism of the airplane works normally. When the problem of 'hanging up' or 'tangling' caused by the fact that the umbrella cannot be opened correctly after the umbrella is correctly released by the airplane umbrella releasing mechanism occurs, information cannot be fed back to a pilot by an airplane airborne system, and the pilot cannot obtain information of failure in releasing the umbrella by the feedback of the airplane airborne system. In the auxiliary monitoring method for the commander, the commander needs a period of time for observing and judging the failure of umbrella placing, and the delay is brought by voice calling, so that the pilot processing time is delayed by carelessness, and the accident that the airplane rushes out of the runway is caused. Therefore, there is a need for an open state monitoring method and system based on the feature recognition of a drag parachute to solve the above problems.
Disclosure of Invention
The invention aims to provide an parachute opening state monitoring method and system based on resistance parachute feature recognition, and aims to solve the problems. The method judges the parachute opening condition of the drag parachute by measuring the change gradient condition of the total number of the feature points on the drag parachute, sets a corresponding threshold value, and automatically triggers the voice radio to carry out voice prompt when the change gradient of the total number of the feature points is lower than a certain threshold value, so that the rapid judgment and emergency treatment of the pilot on the parachute opening state of the airplane are realized.
The invention is mainly realized by the following technical scheme:
an parachute opening state monitoring method based on drag parachute feature recognition comprises the following steps:
step S100: automatically identifying and tracking images of the area of the airplane umbrella placing mechanism;
step S200: converting the three-dimensional image information acquired in the step S100 into local two-dimensional coordinates to realize geometric measurement of image elements;
step S300: firstly, judging whether a guide umbrella is sent out or not, if the guide umbrella is sent out normally, judging whether the parachute opening of the drag umbrella is successful or not, taking the cross point of the stiffening band of the drag umbrella as a characteristic point, and taking the total number change gradient of the characteristic point as a threshold value for judging whether the parachute opening of the drag umbrella is successful or not.
In order to better implement the present invention, in step S100, a high dynamic visual tracking technology is used to automatically identify and track the image of the region of the aircraft parachute-releasing mechanism.
In order to better implement the present invention, further, in step S100, a high-speed camera with a controllable sampling rate is equipped in the region of the aircraft parachute-placing mechanism.
In order to better implement the present invention, further, the method for determining whether the parachute opening succeeds in step S300 is as follows:
suppose that the high-speed camera in step S100 takes N pictures per second, at the start t0The number of the feature points in the picture taken at any moment is Mt0，t1The number of the feature points in the picture taken at any moment is Mt1Until the shooting is finished, a time matrix T is obtained, and a plurality of number matrixes M are counted with the feature points:
T＝[t0，t1，t2，....，tN-1，tN]
M＝[Mt0，Mt1，Mt2，....，MtN-1，MtN]
m matrix element Mtk-Mtk-1An improved matrix L:
L＝[Lt1，Lt2，....，LtN-2，LtN-1，LtN]
establishing an L matrix sequence sliding window, wherein the number of the sliding window covers is m, and judging the sliding window as follows:
Ltk，Ltk+1，...，Ltk+m-1
if it is
Figure BDA0003133767730000021
If the values are all less than the threshold value j, the umbrella opening is judged to fail.
The invention is mainly realized by the following technical scheme:
an parachute opening state monitoring system based on drag parachute feature recognition is carried out based on the monitoring method and comprises an optical detection module, a drag parachute opening detection module and a voice prompt module, wherein images of an airplane parachute opening mechanism area are collected through the optical detection module and input to the drag parachute opening detection module; the umbrella-opening resistance detection module converts three-dimensional image information into a local two-dimensional coordinate, identifies and analyzes an umbrella-opening image, outputs a resistance umbrella-opening state signal to the voice prompt module, and broadcasts a prompt to a pilot through the voice prompt module.
In order to better realize the invention, furthermore, prompt tones of umbrella opening failure and umbrella opening success are pre-recorded in the voice prompt module.
In order to better realize the invention, further, the voice prompt module comprises a voice radio and an airborne radio which are connected with each other, and the umbrella-holding resistance detection module is connected with the voice radio.
The invention has the beneficial effects that:
(1) the method judges the parachute opening condition of the drag parachute by measuring the change gradient condition of the total number of the feature points on the drag parachute, sets a corresponding threshold value, and automatically triggers a voice radio to carry out voice prompt when the change gradient of the total number of the feature points is lower than a certain threshold value, so that the rapid judgment and emergency treatment of the pilot on the parachute opening state of the airplane are realized;
(2) the invention can quickly judge whether the parachute is successfully opened based on the pickup of the characteristic points of the parachute opening of the airplane, shortens the warning time, improves the pilot response time and the flight test safety margin, and has better practicability;
(3) the invention realizes quick and accurate early warning based on the linkage of the optical measurement result and the voice radio station, and has better practicability.
Drawings
FIG. 1 is a functional block diagram of the present invention;
fig. 2 is a schematic structural view of the drag umbrella when fully unfolded.
Wherein: 1-reinforcing belt, 2-umbrella surface and 3-characteristic point.
Detailed Description
Example 1:
an parachute opening state monitoring method based on drag parachute feature recognition comprises the following steps:
step S100: automatically identifying and tracking images of the area of the airplane umbrella placing mechanism;
step S200: converting the three-dimensional image information acquired in the step S100 into local two-dimensional coordinates to realize geometric measurement of image elements;
step S300: firstly, whether a guide umbrella is sent out or not is judged, if the guide umbrella is sent out normally, whether the parachute opening is successful or not is judged, as shown in fig. 2, the opened parachute comprises a reinforcing band 1 and a canopy surface 2, the cross point of the reinforcing band 1 of the parachute is used as a characteristic point 3, and the total number change gradient of the characteristic point 3 is used as a threshold value for judging whether the parachute opening is successful or not.
Example 2:
in this embodiment, optimization is performed on the basis of embodiment 1, and in step S100, an automatic image identification and tracking of the area of the aircraft parachute-releasing mechanism is implemented by using a high dynamic visual tracking technology.
Further, in the step S100, a high-speed camera with a controllable sampling rate is equipped in the region of the airplane parachute-placing mechanism.
Further, the method for determining whether the parachute opening is successful in step S300 is as follows:
suppose that the high-speed camera in step S100 takes N pictures per second, at the start t0The number of the feature points 3 in the picture taken at the moment is Mt0，t1The number of the feature points 3 in the picture taken at the moment is Mt1Until the shooting is finished, a time matrix T and a feature point 3 counting number matrix M are obtained:
T＝[t0，t1，t2，....，tN-1，tN]
M＝[Mt0，Mt1，Mt2，....，MtN-1，MtN]
m matrix element Mtk-Mtk-1An improved matrix L:
L＝[Lt1，Lt2，....，LtN-2，LtN-1，LtN]
establishing an L matrix sequence sliding window, wherein the number of the sliding window covers is m, and judging the sliding window as follows:
Ltk，Ltk+1，...，Ltk+m-1
if it is
Figure BDA0003133767730000041
If the values are all less than the threshold value j, the umbrella opening is judged to fail.
Other parts of this embodiment are the same as embodiment 1, and thus are not described again.
Example 3:
an parachute opening state monitoring system based on the drag parachute feature recognition is carried out based on the monitoring method, and comprises an optical detection module, a drag parachute opening detection module and a voice prompt module as shown in figure 1, wherein the optical detection module is used for acquiring images of an airplane parachute opening mechanism area and inputting the images into the drag parachute opening detection module; the umbrella-opening resistance detection module converts three-dimensional image information into a local two-dimensional coordinate, identifies and analyzes an umbrella-opening image, outputs a resistance umbrella-opening state signal to the voice prompt module, and broadcasts a prompt to a pilot through the voice prompt module.
Further, voice prompt module includes interconnect's pronunciation radio station and airborne radio station, umbrella detection module is put to the resistance umbrella and is connected with the pronunciation radio station.
Example 4:
an umbrella opening state monitoring method based on resistance umbrella feature recognition is carried out by adopting a monitoring system as shown in figure 1, wherein the monitoring system comprises an optical detection module, a resistance umbrella opening detection module and a voice prompt module, and comprises the following steps:
(1) optical detection module
By using a high dynamic visual tracking technology, automatic identification and tracking of the altitude motion full-automatic image are realized, and the area of the airplane parachute-releasing mechanism can be stably tracked and displayed in a high-definition mode. Meanwhile, a high-speed camera capable of controlling the sampling rate is arranged, and when the main camera is used for positioning and tracking, the high-speed camera is arranged on the same rotating holder, so that attention to an umbrella placing area is kept. The image tracking technology and the controllable sampling rate high-speed camera shooting technology belong to the known technologies, and are not described herein again.
The image result of optical collection is used as the input of the parachute-putting detection module of the drag parachute.
(2) Detection module for resistance umbrella unfolding
The drag parachute detection module converts three-dimensional image information into local two-dimensional coordinates by utilizing three-dimensional object cheating and image two-dimensional image coordinate perspective projection transformation, and realizes geometric measurement of image elements.
Meanwhile, a sample characteristic training module is adopted to identify an umbrella-holding image, the characteristic points 3 and the characteristic parameters of the reinforcing band 1 are extracted by using historical data and serve as thresholds for judging the next umbrella-holding, and a threshold interpretation method is the core of the invention.
The threshold is divided into two steps:
1) threshold for guiding umbrella release
The guiding umbrella is a prerequisite for opening the main umbrella of the resistance umbrella, and the condition that the guiding umbrella is not sent out after the umbrella throwing mechanism works can occur under partial conditions.
2) Judging whether the opening of the main force umbrella is successful or not
The detection mode is described by taking the total number change gradient of the cross points of the stiffening bands 1 of the drag parachute as an example of a threshold, as shown in fig. 2, the stiffening bands 1 are sewing bands distributed on the umbrella cover in a staggered manner, and play a role in strengthening the strength of the umbrella cover.
The core of the discrimination method is to calculate the number of the change of 3 characteristic points per second, and the number of the 3 characteristic points of the umbrella which is erected and normally thrown is increased in a fixed rule. Setting a high-speed camera to take N pictures per second, and starting at t0The number of the feature points 3 in the picture taken at the moment is Mt0，t1The number of the feature points 3 in the picture taken at the moment is Mt1Until the end of the shot, a time matrix T and feature points are obtained3 count number matrix M:
T＝[t0，t1，t2，....，tN-1，tN]
M＝[Mt0，Mt1，Mt2，....，MtN-1，MtN]
m matrix element Mtk-Mtk-1An improved matrix L:
L＝[Lt1，Lt2，....，LtN-2，LtN-1，LtN]
establishing an L matrix sequence sliding window, wherein the number of the sliding window covers is m:
Figure BDA0003133767730000051
if it is
Figure BDA0003133767730000052
If the value is less than the threshold value j, the umbrella opening failure is judged, and meanwhile, an electric signal is sent to the voice alarm module.
(3) Voice prompt module
This pronunciation notice suggestion piece forms for the transformation of pronunciation radio station, and the inside warning sound of "parachute-opening failure", "success of parachute-opening" of prerecording in advance of pronunciation radio station is repeated the cubic, deposits in the pronunciation radio station, broadcasts according to setting for the frequency promptly after receiving the signal of telecommunication that umbrella detection module sent is put to the resistance umbrella, reminds the pilot.
The invention picks up the characteristic points 3 of the parachute opening of the airplane, can quickly judge whether the parachute is successfully opened or not, shortens the warning time, improves the pilot response time and the flight test safety margin, and has better practicability.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims (4)

1. An parachute opening state monitoring method based on drag parachute feature recognition is characterized by comprising the following steps:
step S100: automatically identifying and tracking images of the area of the airplane umbrella placing mechanism;
step S200: converting the three-dimensional image information acquired in the step S100 into local two-dimensional coordinates to realize geometric measurement of image elements;
step S300: firstly, judging whether a guide umbrella is sent out or not, if the guide umbrella is sent out normally, judging whether the parachute opening of the drag umbrella is successful or not, taking the cross point of the drag umbrella reinforcing belt (1) as a characteristic point (3), and taking the total number change gradient of the characteristic point (3) as a threshold value for judging whether the parachute opening is successful or not;
in the step S100, a high-speed camera with controllable sampling rate is arranged in the region of the airplane umbrella placing mechanism;
the method for judging whether the parachute opening is successful in the step S300 is as follows:
assume that the high-speed camera in step S100 takes N pictures per second, and startst 0 The number of the feature points (3) in the picture taken at the moment is countedM t0 ，t 1 The number of the feature points (3) in the picture taken at the moment is countedM t1 Until shooting is finished, a time matrix T and a feature point (3) counting number matrix M are obtained:
Figure DEST_PATH_IMAGE001
m matrix elements
Figure 459881DEST_PATH_IMAGE002
An improved matrix L:
Figure DEST_PATH_IMAGE003
establishing an L matrix sequence sliding window, wherein the number of the sliding window covers is m, and judging the sliding window as follows:
Figure 49125DEST_PATH_IMAGE004
if it is
Figure DEST_PATH_IMAGE005
If the values are all less than the threshold value j, the umbrella opening is judged to fail.
2. The parachute opening state monitoring method based on parachute characteristic identification as claimed in claim 1, wherein in the step S100, a high dynamic vision tracking technology is adopted to achieve automatic image identification and tracking of an aircraft parachute opening mechanism area.
3. An parachute opening state monitoring system based on the characteristic identification of the drag parachute is carried out based on the monitoring method of claim 1 or 2, and is characterized by comprising an optical detection module, a drag parachute opening detection module and a voice prompt module, wherein the optical detection module is used for acquiring an image of an airplane parachute opening mechanism area and inputting the image into the drag parachute opening detection module; the umbrella-opening resistance detection module converts three-dimensional image information into a local two-dimensional coordinate, identifies and analyzes an umbrella-opening image, outputs a resistance umbrella-opening state signal to the voice prompt module, and broadcasts a prompt to a pilot through the voice prompt module.
4. An umbrella opening state monitoring system based on drag umbrella feature recognition as claimed in claim 3, wherein the voice prompt module comprises a voice radio and an airborne radio which are connected with each other, and the drag umbrella put detection module is connected with the voice radio.
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CN103935521A (en) * 2013-08-23 2014-07-23 中国航空工业集团公司西安飞机设计研究所 Drag parachute opening method
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CN210466094U (en) * 2019-10-30 2020-05-05 航宇救生装备有限公司 Miniaturized circuit for controlling reliable parachute opening and online detection of lifesaving parachute
CN110979695A (en) * 2019-12-06 2020-04-10 江西洪都航空工业集团有限责任公司 Automatic parachute throwing condition interpretation method for parachuting recovery unmanned aerial vehicle
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